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ArduPlane: rename AP_AHRS::get_position to get_location

This commit is contained in:
Peter Barker 2022-01-21 10:42:41 +11:00 committed by Andrew Tridgell
parent d1acc5df31
commit 266d384ca7
4 changed files with 4 additions and 4 deletions
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2
ArduPlane/ArduPlane.cpp
View File

@ -396,7 +396,7 @@ void Plane::update_GPS_50Hz(void)
gps.update(); gps.update();
// get position from AHRS // get position from AHRS
have_position = ahrs.get_position(current_loc); have_position = ahrs.get_location(current_loc);
ahrs.get_relative_position_D_home(relative_altitude); ahrs.get_relative_position_D_home(relative_altitude);
relative_altitude *= -1.0f; relative_altitude *= -1.0f;
} }

2
ArduPlane/GCS_Mavlink.cpp
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@ -1340,7 +1340,7 @@ int16_t GCS_MAVLINK_Plane::high_latency_target_altitude() const
{ {
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
struct Location global_position_current; struct Location global_position_current;
UNUSED_RESULT(ahrs.get_position(global_position_current)); UNUSED_RESULT(ahrs.get_location(global_position_current));
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
const QuadPlane &quadplane = plane.quadplane; const QuadPlane &quadplane = plane.quadplane;

2
ArduPlane/commands.cpp
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@ -122,7 +122,7 @@ void Plane::update_home()
} }
if (ahrs.home_is_set() && !ahrs.home_is_locked()) { if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
Location loc; Location loc;
if(ahrs.get_position(loc) && gps.status() >= AP_GPS::GPS_OK_FIX_3D) { if(ahrs.get_location(loc) && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// we take the altitude directly from the GPS as we are // we take the altitude directly from the GPS as we are
// about to reset the baro calibration. We can't use AHRS // about to reset the baro calibration. We can't use AHRS
// altitude or we can end up perpetuating a bias in // altitude or we can end up perpetuating a bias in

2
ArduPlane/quadplane.cpp
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@ -2542,7 +2542,7 @@ void QuadPlane::vtol_position_controller(void)
} }
} }
if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) { if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) {
plane.ahrs.get_position(plane.current_loc); plane.ahrs.get_location(plane.current_loc);
int32_t target_altitude_cm; int32_t target_altitude_cm;
if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) { if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) {
break; break;